EP3122622B1 - Système pour le transfert de fluide entre un navire et une installation, telle qu'un navire client - Google Patents

Système pour le transfert de fluide entre un navire et une installation, telle qu'un navire client Download PDF

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Publication number
EP3122622B1
EP3122622B1 EP15715788.4A EP15715788A EP3122622B1 EP 3122622 B1 EP3122622 B1 EP 3122622B1 EP 15715788 A EP15715788 A EP 15715788A EP 3122622 B1 EP3122622 B1 EP 3122622B1
Authority
EP
European Patent Office
Prior art keywords
flexible pipe
mast
flexible
drum
guide surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15715788.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3122622A1 (fr
Inventor
Guillaume GELIN
Patrick Englebert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gaztransport et Technigaz SA
Original Assignee
Gaztransport et Technigaz SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gaztransport et Technigaz SA filed Critical Gaztransport et Technigaz SA
Publication of EP3122622A1 publication Critical patent/EP3122622A1/fr
Application granted granted Critical
Publication of EP3122622B1 publication Critical patent/EP3122622B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/30Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
    • B63B27/34Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures using pipe-lines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00Buoys
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/08Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
    • B63B25/12Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
    • B63B25/16Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed heat-insulated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/24Arrangement of ship-based loading or unloading equipment for cargo or passengers of pipe-lines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B67OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67DDISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D9/00Apparatus or devices for transferring liquids when loading or unloading ships
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B67OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67DDISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D9/00Apparatus or devices for transferring liquids when loading or unloading ships
    • B67D9/02Apparatus or devices for transferring liquids when loading or unloading ships using articulated pipes

Definitions

  • the invention relates to the field of fluid transfer and relates more particularly to the transfer of liquefied natural gas between a ship and an installation, such as a customer ship.
  • the document WO0134460 discloses a system for transferring liquefied natural gas between a liquefied natural gas production vessel and a liquefied natural gas transport vessel.
  • the transfer system has three parallel flexible lines, two lines of which transfer the liquefied natural gas from the production vessel to the transport vessel, while the third line allows a transfer of gas from the transport vessel to the production vessel in order to to balance the pressures in the gaseous skies of the tanks of the two ships and thus to avoid that the pressure inside the tank of the production vessel does not fall.
  • the three flexible pipes are suspended from a mast mounted to move on the deck of the production vessel and have a free end equipped with a connecting element which cooperates with a connecting element complementary to the transport ship.
  • the connecting elements are equipped with emergency disconnection means for disconnecting them and interrupting the transfer of the liquefied natural gas.
  • the emergency disconnection means are remotely controlled from the transport vessel via a hydraulic circuit.
  • connection elements emergency disconnection being particularly heavy, their positioning at the free end of the flexible pipes makes the flexible pipes particularly complex to maneuver so that the connection operations are long to perform and insecure.
  • the presence of a hydraulic control circuit of the emergency disconnect means increases the cost and complexity of the transfer system.
  • An idea underlying the invention is to provide a system for transferring a fluid between a ship and an installation that is simple, secure, reliable and allows to adapt to a wide variety of configurations.
  • the emergency disconnect connection device does not require a hydraulic control circuit.
  • the guide element makes it possible to ensure that, when a tensile force is exerted between the ends of the flexible pipe, this tensile force is exerted substantially in the direction d of separation of the two separable elements of the pipe.
  • emergency disconnect connection device which limits the forces exerted on the flexible pipe.
  • the guide element also makes it possible to avoid untimely disconnections of the emergency disconnect connection device.
  • the guide element also makes it possible to limit the bending stresses acting on the flexible pipe at the connection of the first end of the flexible pipe to the transfer line.
  • the transfer system can adapt to many different configurations.
  • the invention also provides a vessel equipped with a transfer system as mentioned above.
  • the invention also provides a method of transferring a fluid in which, during the transfer operation, the mast is positioned in a position such that, when a tensile force is exerted between the first end and the second end of the flexible pipe, said flexible pipe is pressed against the convex guide surface.
  • the method includes a flexible pipe draining operation in which the mast is moved to a position in which the flexible pipe has a mast down to the manifold of the client vessel downwardly to allow flow by gravity of the fluid contained in the flexible pipe.
  • the invention also provides a braking device for controlling the falling speed of a plurality of flexible pipes equipped with an emergency disconnect connection device, the braking device comprising for each flexible pipe a drum and a cable which is, on the one hand, wound around the drum and, on the other hand, fixed to one of the separable elements of the emergency disconnect connection device; the braking device comprising a movable shaft; a positive displacement pump equipped with a rotor rotatably coupled to the shaft; and a closed loop hydraulic circuit, associated with the positive displacement pump, equipped with a flow regulator, each drum being associated with the shaft by means of a device, freewheel or nonreturn, unidirectional so that a rotation of the drum in a direction of unwinding of the cable drives the shaft in rotation in a first direction of rotation and that the shaft can freely rotate in the first direction of rotation without rotating the drum in the unwinding direction of the cable .
  • such a braking device can also find application to other transfer system that the transfer system which will be described below.
  • such a braking device can find applications in all transfer systems comprising a plurality of flexible pipes equipped with emergency disconnect connection device and whose fall is to be braked during emergency disconnections.
  • a transfer system will be described below for transferring fluid, such as liquefied natural gas (LNG), between a supply vessel and a facility, such as a customer ship.
  • the supply vessel is, for example, a bunkering vessel in charge of supplying LNG to other ships, and the client vessel, an LNG powered vessel.
  • the transfer system comprises a lattice mast 1 which is mounted on the deck 2 of the supplier ship 3.
  • the lattice mast 1 comprises three uprights assembled by a plurality of cross bracing extending between the uprights.
  • the mast 1 carries a plurality of transfer lines 4 which extend along the mast.
  • the transfer lines 4 consist of rigid elements.
  • the mast 1 carries, for example, three transfer lines 4.
  • Two of the transfer lines 4 are connected to a liquefied natural gas storage tank of the supply vessel 3 and make it possible to transfer liquefied natural gas from the supply vessel 3 to the vessel customer.
  • the third transfer line 4 allows the extraction of natural gas in the gaseous state from the client vessel 5 to the supply vessel 3.
  • This third transfer line 4 can be connected to a natural gas re-liquefaction plant, onboard the supplier ship 3.
  • the transfer lines 4 have a distal end 6 extending away from the distal end 7 of the mast 1. Each of the distal ends 6 of the transfer lines 4 is connected to a flexible pipe 8.
  • the flexible pipes 8 thus comprise a first end 9 which is connected to the transfer line 4 and a free second end 10 which is intended to be connected to a manifold 11 of the client vessel 5 to allow a transfer of fluid between the supply vessel 3 and the client vessel 4.
  • the flexible pipes 8 are advantageously made of cryogenic pipes, such as composite pipes or double wall pipes, made of stainless steel, the intermediate space of which is lined with an insulating material.
  • the insulating material is depressed to improve its insulation characteristics.
  • the mast 1 is articulated on the deck 2 of the supplier ship 3. To do this, the mast 1 is pivotally mounted about a horizontal axis between a retracted position, shown on the figure 1 , and an extreme raised position, represented on the figure 4 . In its extreme raised position, the mast 1 is here inclined at an angle of about 60 ° with respect to the bridge 2 of the supplier ship 3.
  • the mast 1 is also rotatably mounted about a vertical axis. To do this, the mast 1 is mounted on a base 12 adapted to rotate about a vertical axis.
  • the transfer system is equipped with a set of actuating cylinders 13 which each comprise an articulated end mounted on the uprights of the mast 1 and a second end articulated on the base 12.
  • the transfer system comprises a saddle 14 for supporting the flexible pipes 8 which is suspended at the distal end 7 of the mast 1.
  • the saddle 14 is equipped with a convex upper surface 15 for supporting the flexible pipes 8.
  • the convex upper surface 15 is an arcuate surface whose radius of curvature is greater than or equal to the minimum permissible curvature radius of the flexible pipes 8.
  • the minimum admissible radius of curvature corresponds to the minimum value of the radius up to which the flexible pipes 8 can be flexed without deterioration or reducing their life. This value is usually specified by flexible pipe manufacturers.
  • the minimum permissible radius of curvature is of the order of 700 mm for cryogenic pipes having an outer diameter of the order of 170 mm and of the order of 500 mm for such cryogenic hoses with a diameter of outer diameter of the order of 100 mm.
  • the saddle 14 is suspended at the distal end 7 of the mast 1 by means of a lifting device.
  • the lifting device is a rope hoist.
  • the lifting device comprises a drum 16 adapted to be rotated by a motor, a deflection pulley 17 disposed at the distal end 7 of the mast 1 and a cable 18, cooperating with the pulley 17, which is on the one hand, wrapped around the drum 16 and, on the other hand, fixed to the saddle 14.
  • the flexible pipes 8 comprise near their first end 9 an emergency disconnection connection device 19.
  • an emergency disconnect connection device 19 is illustrated in a manner in a connected state, on the figure 7a , and in an offline state, on the figure 7b .
  • the emergency disconnect connection device 19 comprises two separable elements 20, 21.
  • the two elements 20, 21 are able to separate in a separation direction d when a separation force greater than a threshold is exerted.
  • the two elements 20, 21 each comprise a hollow cylindrical body 22 adapted to allow the circulation of the fluid.
  • the two elements 20, 21 each comprise a fastening flange 23 for ensuring a tight connection with the fastening flange 23 of the other element.
  • the fastening flanges 23 are secured to one another by means of a fastener 24 designed to break when a separation force greater than a determined threshold is exerted on the emergency disconnect connection device. 19.
  • Each of the separable elements 20, 21 is equipped with a valve 25 which is able to prevent the passage of the fluid, in the event of the elements 20, 21 being separated.
  • the valve 25 is mounted to move freely. inside of the hollow cylindrical body 22 between an open position, illustrated on the figure 7a in which the valve 25 allows the passage of fluid through the emergency disconnect connection device 19 and a closed position, illustrated in FIG. figure 7b , in which the valve 25 ensures a sealed contact against a shoulder 26 of the hollow cylindrical body 22 to prevent the passage of fluid.
  • the valves 25 are each returned to their closed position by means of a spring 27.
  • the valves 25 comprise pins 28 cooperating against each other when the two elements 20, 21 of the connecting device to emergency disconnection 19 are connected so as to compress the springs 27 and maintain the valves 25, in the open position.
  • valves are pivotally mounted between their open position and their closed position.
  • the transfer system is also equipped with a guide element 29 which guides the flexible pipes 8 so that when a tensile force is exerted on the flexible pipes 8 between their first end 9 and their second end 10, this force is exerted on the emergency disconnect connection device 19 in the direction of separation of separable elements 20, 21.
  • portion of the flexible pipe 8 extends between the emergency disconnect connection device 19 and the end 6 of the transfer line.
  • the guide member 29 has a convex guide surface 30.
  • the convex guide surface 30 has an arcuate shape having a radius of curvature greater than or equal to the minimum allowable curvature radius of the flexible conduits 8.
  • the convex guide surface 30 is directed towards the distal end 7 of the mast 1 when the 6 end of the transfer line is oriented towards the distal end 7 of the mast 1.
  • the end 6 of the transfer line 4 is also oriented tangentially to the convex guide surface 30.
  • the distance x between the guide element 29 and the distal end 7 of the mast 1 to which the saddle 14 is suspended is determined so that when the mast 1 is disposed in its extreme raised position, the flexible pipes 8 form a loop 31 whose radius of curvature is greater than or equal to the minimum permissible curvature radius of the flexible pipes 8.
  • the Figures 1 to 5 illustrate a succession of steps of maneuvering the transfer system during a fluid transfer operation between a supplier ship 3 and a client ship 5.
  • the mast 1 In a retracted position, illustrated on the figure 1 , the mast 1 extends substantially horizontally.
  • the mast 1 is moved so that its distal end 7 comes to be positioned near the manifold 11 of the client ship 5, as shown on the figure 2 .
  • the lifting device of the saddle 14 is then controlled so as to deposit the saddle 14 on the deck of the client ship 5.
  • the flexible pipes 8 are then connected to the manifolds 11 of the client vessel 5 to allow the transfer of liquefied natural gas between the supply vessel 3 and the customer ship 5, as shown on the figure 3 .
  • the mast 1 When the transfer of the liquefied natural gas is complete, the mast 1 is erected in a drainage position, illustrated on the figure 4 , in which the flexible pipes 8 have a downward slope from the mast 1 towards the deck of the client vessel 4 so as to allow the gravity flow of the liquefied natural gas contained in the flexible pipes 8 to the manifolds 11 of the client vessel 5.
  • the flexible pipes 8 are then disconnected from the manifolds 11 of the client vessel 5 and the seat 14 can be raised by means of the lifting device, as shown in FIG. figure 5 in order to lift the end 10 of the flexible pipes 8.
  • the mat 1 is then returned to its retracted position, illustrated on the figure 1 .
  • FIGS. 9 to 13 schematically illustrate arrangements of the guide member 29 and the emergency disconnect connection device 19 according to a plurality of embodiments.
  • the rest position of the flexible pipe 8 is shown in solid lines while the position of the flexible pipe 8, when a tensile force is exerted, is shown in dashed lines.
  • the figure 9 is a schematic representation of the embodiment of the Figures 1 to 6 .
  • the embodiment of the figure 10 differs from that of the figure 9 in that the emergency disconnect connection device 19 is arranged at the first end 9 of the flexible pipe 8, ie at the junction between the transfer line 4 and the flexible pipe 8, to ensure axial operation.
  • the emergency disconnect connection device 19 is therefore fixed relative to the mast 1. Therefore, the guide member 29 is fixed on the mast 1 in a position such that the separation direction d of the connection device disconnection 19 extends substantially tangentially to the convex guide surface 30.
  • the embodiment of the figure 11 differs from that of the figure 9 in that the emergency disconnection connection device 19 is arranged at a portion of the flexible pipe 8 extending between the guide member 29 and the second end of the flexible pipe 8.
  • the convexity of the convex guide surface 30 is directed towards the proximal end of the mast 1 because the end 6 of the transfer line has a longitudinal component oriented towards the proximal end 7 of the mast 1.
  • each flexible pipe 8 may be equipped with a buoy 45 making it possible to facilitate the recovery of the flexible pipe 8 in the event of emergency disconnection.
  • the buoy 44 is associated with the portion of the flexible pipe 8 intended to fall overboard in the event of emergency disconnection, that is to say the portion of the flexible pipe 8 which extends between the emergency disconnect connecting device 19 and the second end 10 of the flexible pipe 8.
  • the buoy 44 is fixed to the flexible pipe 8, close to the emergency disconnect connection device 19.
  • the guide member comprises for each flexible pipe 8 a guide groove 32.
  • Each of the grooves 32 is bordered by partitions 33 more or less advanced to provide lateral guidance of the flexible pipes 8.
  • the guide member 29 has a flared bell portion shape having a top equipped with an opening 33 for passage of the flexible pipes.
  • the convex guide surface 30 is covered with a non-stick coating in order to reduce the frictional forces between the convex guide surface 30 and the flexible conduits 8.
  • the non-stick coating is, for example, polytetrafluoroethylene (PTFE).
  • PTFE polytetrafluoroethylene
  • the guide surface 30 is equipped with a plurality of rollers mounted in rotation and thus making it possible to reduce the frictional forces exerted between the convex guide surface 30 and the flexible pipes 8.
  • the transfer system is equipped with a braking device 34 for controlling the speed of drop of flexible pipes 8 during an emergency disconnection, illustrated in detail on the figures 16 , 17 and 19 .
  • the braking device 34 comprises, for each flexible pipe 8, a drum 35 and a cable 36 which is, on the one hand, wound around its respective drum 35 and, on the other hand, connected to the element 20 of the device.
  • emergency disconnect connection 20 which is connected to the flexible pipe 8 or the portion of the flexible pipe 8 may fall during an emergency disconnection.
  • the drums 35 are each mounted on a shaft 37 by means of a device, freewheel or anti-return, unidirectional 38.
  • a rotation of the drum 35 in a unwinding direction of the cable drives the shaft in rotation in a first direction of rotation whereas, on the contrary, the shaft can freely rotate in this first direction of rotation without rotating the drum. in the unwinding direction of the cable.
  • the cables 36 of each of the drums 35 can therefore be unrolled independently.
  • the shaft 37 is associated with a speed control unit for controlling the falling speed of the flexible pipe.
  • the unit of speed control comprises a positive displacement pump 39 equipped with a rotor rotatably coupled to the shaft 37.
  • the positive displacement pump 39 is associated with a closed loop hydraulic circuit 40 equipped with a flow regulator 41, such as a constant flow valve.
  • the positive displacement pump 39 provides a flow rate proportional to its speed of rotation and, on the other hand, the flow regulator makes it possible to control the flow rate of the pump, it is possible to control the speed of rotation of the shaft 37 and thus to limit the speed of fall of the flexible pipes 8.
  • the braking device 34 is arranged to allow a release of the cables 36 when they are completely unrolled from their drum 35.
  • one end of the cable is fixed to a pin 42 provided with an eyelet 43 for the introduction and fixing of the cable 36.
  • the drum 35 has a groove 44 formed in the cylindrical surface of the drum 35, extending along A generatrix of the cylindrical surface of the drum 35.
  • the groove 44 is arranged to receive the pin 42.
  • the pin 42 can disengage the drum 35 only when the cable 36 is fully unwound.
  • a device for detecting an emergency disconnection 46 is associated with the braking device 4.
  • the detection device 46 comprises a plurality of motion sensors 47 which are each equipped with a roller co-operating with one of the drums 35 so as to allow detection of a rotational movement of the drums.
  • the motion sensors 47 are connected to a processing unit 48.
  • the processing unit 48 is able to process the signals delivered by the motion sensors 47 and to generate a detection signal when at least one of the motion sensors 47 delivers a signal representative of a rotation of the associated drum 35.
  • the processing unit 47 may in particular deliver an alarm signal for alerting the crew of an emergency disconnection and / or delivering a stop signal for the pumps transferring liquefied natural gas from the supply vessel to the client ship and vice versa.
  • an alarm signal for alerting the crew of an emergency disconnection
  • a stop signal for the pumps transferring liquefied natural gas from the supply vessel to the client ship and vice versa.
  • the embodiment shown on the figure 21 differs from that of the figure 19 , in that the motion sensors 49 are linear displacement sensors or feelers which are each able to cooperate with a contact piece 50 carried by one of the drums 35 so that a rotational movement of a drum causes a linear displacement of the motion sensor 49.
  • motion sensors 47 may also be non-contact sensors, such as magnetic sensors.
  • the motion sensors 51 are optical fiber sensors comprising a transmitter, a receiver and an optical fiber.
  • the motion sensors 51 comprise an optical fiber 52, one end of which is fixed on the drum 35 and which is thus arranged to break during a rotation of the drum 35 so that the sensor detects a rotation of the drum 35.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Loading And Unloading Of Fuel Tanks Or Ships (AREA)
  • Earth Drilling (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Quick-Acting Or Multi-Walled Pipe Joints (AREA)
  • Bridges Or Land Bridges (AREA)
EP15715788.4A 2014-03-24 2015-03-16 Système pour le transfert de fluide entre un navire et une installation, telle qu'un navire client Active EP3122622B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1452471A FR3018766B1 (fr) 2014-03-24 2014-03-24 Systeme pour le transfert de fluide entre navire et une installation, telle qu'un navire client
PCT/FR2015/050628 WO2015145020A1 (fr) 2014-03-24 2015-03-16 Système pour le transfert de fluide entre un navire et une installation, telle qu'un navire client

Publications (2)

Publication Number Publication Date
EP3122622A1 EP3122622A1 (fr) 2017-02-01
EP3122622B1 true EP3122622B1 (fr) 2018-05-09

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ID=50933361

Family Applications (1)

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EP15715788.4A Active EP3122622B1 (fr) 2014-03-24 2015-03-16 Système pour le transfert de fluide entre un navire et une installation, telle qu'un navire client

Country Status (13)

Country Link
US (1) US10086914B2 (zh)
EP (1) EP3122622B1 (zh)
JP (1) JP6461188B2 (zh)
KR (1) KR102301507B1 (zh)
CN (1) CN106458300B (zh)
AU (1) AU2015238099B2 (zh)
ES (1) ES2674528T3 (zh)
FR (1) FR3018766B1 (zh)
MY (1) MY178828A (zh)
PH (1) PH12016501869A1 (zh)
RU (1) RU2657146C2 (zh)
SG (1) SG11201607823PA (zh)
WO (1) WO2015145020A1 (zh)

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US10358338B2 (en) * 2016-04-02 2019-07-23 Xuejie Liu Auto-balancing hose system and method for fluid transfer
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KR20160133493A (ko) 2016-11-22
AU2015238099A1 (en) 2016-10-06
SG11201607823PA (en) 2016-11-29
CN106458300A (zh) 2017-02-22
ES2674528T3 (es) 2018-07-02
RU2016140525A3 (zh) 2018-04-25
RU2657146C2 (ru) 2018-06-08
WO2015145020A1 (fr) 2015-10-01
US10086914B2 (en) 2018-10-02
FR3018766B1 (fr) 2016-04-01
JP2017510495A (ja) 2017-04-13
RU2016140525A (ru) 2018-04-25
AU2015238099B2 (en) 2018-06-28
JP6461188B2 (ja) 2019-01-30
FR3018766A1 (fr) 2015-09-25
KR102301507B1 (ko) 2021-09-14
PH12016501869A1 (en) 2016-12-19
CN106458300B (zh) 2018-09-28
US20170096195A1 (en) 2017-04-06
MY178828A (en) 2020-10-20
EP3122622A1 (fr) 2017-02-01

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